Optimizing 3D object detection for embedded systems in automated vehicles using sensor data fusion and CUDA computing

Topi Miekkala, Matti Kutila, Mathias Schneider, Alfred Höß

    Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

    1 Citation (Scopus)
    239 Downloads (Pure)

    Abstract

    This article explores the utilization of the processing power of GPUs using CUDA computation for real-time aggregation of multi-sensor data and detection of 3D objects using parallel clustering algorithms. The purpose is to implement an algorithm that fuses raw lidar point cloud data and 2D camera image object detections to produce 3D object clusters in a lidar point cloud. Most of the computation has been implemented using CUDA parallelism to investigate the capability of GPU devices in this task, which is a common challenge in automated driving. The results indicate that processing times can be optimized within the algorithm, which is crucial when considering the large amounts of data provided by lidar and camera-based systems. The algorithm can perform inference on the Jetson Xavier AGX at rates of ~20 to ~220 ms depending on the number of objects and their corresponding point amounts in the KITTI dataset.
    Original languageEnglish
    Title of host publicationProceedings - 2022 IEEE 18th International Conference on Intelligent Computer Communication and Processing Conference, ICCP 2022
    EditorsSergiu Nedevschi, Rodica Potolea, Radu Razvan Slavescu
    PublisherIEEE Institute of Electrical and Electronic Engineers
    Pages113-118
    Number of pages6
    ISBN (Electronic)978-1-6654-6437-6
    DOIs
    Publication statusPublished - 2022
    MoE publication typeA4 Article in a conference publication
    Event2022 IEEE 18th International Conference on Intelligent Computer Communication and Processing, ICCP 2022 - Cluj-Napoca, Romania
    Duration: 22 Sept 202224 Sept 2022

    Conference

    Conference2022 IEEE 18th International Conference on Intelligent Computer Communication and Processing, ICCP 2022
    Country/TerritoryRomania
    CityCluj-Napoca
    Period22/09/2224/09/22

    Keywords

    • 3D object detection
    • automated driving
    • CUDA
    • sensor data fusion

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